Commit 9bf77e13 authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Enable JointLimitator.

parent 4a163b34
......@@ -43,11 +43,7 @@ class Solver:
# and NOT 'sot.control'!
if robot.device:
plug(self.sot.control, robot.device.control)
#FIXME: should be...
# plug(self.jointLimitator.control, robot.device.control)
plug(self.jointLimitator.control, robot.device.control)
plug(self.robot.device.state, self.robot.dynamic.position)
def push(self, taskName):
......
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